Early warning and control method based on electronic fence of coal mine digging and anchoring integrated equipment

Abstract

The invention relates to an early warning and control method based on an electronic fence of coal mine digging and anchoring integrated equipment, and belongs to the field of mine safety monitoring and management. The digging / anchoring state of digging / anchoring integrated equipment is obtained through a pressure transmitter, an electronic fence area is delimited and personnel information is identified based on a UWB accurate positioning technology, and differential alarm and shutdown control are carried out according to the obtained digging / anchoring state of the integrated equipment. The electronic fence area is divided into an early warning area, a shutdown control area and a forbidden area; a corresponding positioning terminal is worn for a person in advance, and the positioning terminal communicates with a base station on the digging and anchoring integrated equipment; the base station at least obtains position information and identity information corresponding to the positioning terminal; the area where the corresponding personnel are located is judged according to the position information obtained in real time, and then a corresponding early warning control instruction is given according to the identity information of the personnel and the real-time digging / anchoring state of the digging / anchoring integrated equipment. According to the invention, man-machine safety monitoring and management of the surrounding area of the coal mine digging and anchoring integrated equipment can be realized.

Description

Technical Field

[0001] The invention belongs to the field of mine safety monitoring and management, and relates to an early warning and control method based on an electronic fence of coal mine digging and anchoring integrated equipment. Background Art

[0002] Coal mine hydraulic trolleys, integrated digging and anchoring machines and other integrated digging and anchoring equipment are integrated equipment specially used for large-section coal tunnel excavation. They combine the functions of tunnel boring machines and anchor bolters, and can provide support at the same time during the excavation process, realizing the integrated continuous operation of excavation, support and transportation, greatly improving the efficiency and quality of tunnel construction. The working principle of the integrated digging and anchoring machine is to first use a tunnel boring machine to dig a tunnel, then use support rods (anchor rods) to support the tunnel during the excavation process, and finally pour concrete into the support rods to reinforce the tunnel wall. Specifically, after the equipment moves forward, it simultaneously performs coal breaking and support work, and then transports the coal out, realizing parallel operations of excavation and support.

[0003] When the integrated machine is in the excavation mode, due to the harsh environment and poor visibility in the coal mine, effective means are needed to identify unauthorized personnel approaching the integrated machine equipment, so as to issue an alarm and lock the equipment to prevent accidents such as injuries caused by the cutting head and claws of the excavator, and improve the inherent safety level of the mine; when the integrated machine is in the support mode, the equipment is in a stationary state, and the tunnel is in the support process. At this time, unlike the excavation mode, the equipment is mostly surrounded by excavation miners. The personnel near the integrated machine are mostly supporting miners, and different authorizations need to be set to allow entry. Unauthorized personnel only need to issue an alarm when approaching, and no shutdown control is required to avoid affecting production efficiency. Therefore, it is necessary to design an electronic fence system with automatic identification of excavation / anchoring status, personnel approaching identity recognition, personnel approaching alarm and shutdown control management for the excavation and anchoring integrated equipment in the mine to improve the safety management level of the coal mine. Summary of the invention

[0004] In view of this, the object of the present invention is to provide an early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An early warning and control method based on an electronic fence of a coal mine digging and anchoring integrated equipment, firstly, the digging / anchoring state of the digging and anchoring integrated equipment is obtained through a pressure transmitter; then, based on the UWB precise positioning technology, the surrounding area of ​​the digging and anchoring integrated equipment is divided into an early warning area, a shutdown control area and a forbidden area, and an electronic fence is constructed with the boundary corresponding to each area; and corresponding positioning terminals are pre-equipped for underground workers, and the positioning terminals communicate with a base station on the digging and anchoring integrated equipment; the base station at least obtains the position information and identity information corresponding to the positioning terminal; then, the area where the corresponding personnel is located is judged according to the position information obtained in real time, and then the corresponding early warning instructions and shutdown control instructions are given according to the identity information of the personnel and the real-time digging / anchoring state of the digging and anchoring integrated equipment.

[0007] Furthermore, mine workers carry a positioning terminal when working underground. The terminal has a unique ID for the entire mine, and the terminal ID is bound to the basic identity information of the personnel. Before starting work, by configuring the base station, the personnel who can enter the warning and shutdown areas of the digging / anchoring integrated equipment in different digging / anchoring states are authorized separately, forming a "white list" for different digging / anchoring working states. The base station can obtain the location information, equipment ID information, and status information of the positioning terminal.

[0008] Furthermore, if the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and at the same time send an evacuation command to the corresponding positioning terminal;

[0009] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will neither send a warning signal nor a control command.

[0010] Furthermore, if the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0011] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station sends an area change prompt instruction to the corresponding terminal.

[0012] Furthermore, if the drilling and anchoring equipment is in the excavation state and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal.

[0013] Furthermore, if the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station sends a position prompt command to the corresponding positioning terminal, but does not send other warning signals and control commands;

[0014] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

[0015] Furthermore, if the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the preset "white list", the base station does not send an alarm command, but sends an evacuation command to the corresponding positioning terminal, and sends a command to the drilling and anchoring equipment to prohibit starting the drilling state within a preset time;

[0016] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

[0017] Furthermore, if the drilling and anchoring equipment is in the anchoring state, and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, then regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends an instruction to the drilling and anchoring equipment to prohibit the start of the drilling state within a preset time.

[0018] Furthermore, one or more base stations are arranged on the integrated drilling and anchoring equipment; when one base station is arranged, the base station and the positioning terminal cooperate to measure the distance between the base station and the positioning terminal, forming a circular electronic fence area with the base station position as the center point;

[0019] When multiple base stations are deployed, the multiple base stations are deployed at different positions of the integrated digging and anchoring equipment, and the position of one base station is set as the origin of the plane coordinates; the multiple base stations and the positioning terminal jointly realize the measurement of the plane coordinates of the terminal, and divide the electronic fence area according to the coordinates; according to all the position points that can be measured by the base station, according to the pre-set or selected range, the early warning area, the shutdown control area and the forbidden area are divided; the early warning area, the shutdown control area and the forbidden area are all set relative to the base station on the integrated digging and anchoring equipment; the base station changes with the actual position and direction of the integrated digging and anchoring equipment. When the position of the integrated digging and anchoring equipment changes, the actual positions of the corresponding early warning area, the shutdown control area and the forbidden area will change with the actual position and direction of the integrated digging and anchoring equipment.

[0020] Furthermore, in the integrated digging and anchoring equipment, when it is in the anchoring and protecting mode, the hydraulic system of the excavation part is locked, no pressure value is output, and the pressure transmitter outputs a signal indicating that the integrated digging and anchoring equipment is in the anchoring and protecting state; when it is in the excavation mode, the hydraulic system provides operating power, the excavation part has a pressure value output, the pressure transmitter monitors the pressure value of the integrated digging and anchoring equipment, and when the pressure exceeds the set threshold, the pressure transmitter outputs a signal indicating that the integrated digging and anchoring equipment is in the excavation state.

[0021] The beneficial effects of the present invention are:

[0022] The present invention automatically obtains the two states of the equipment, namely, the excavation and anchoring, by monitoring the hydraulic pressure of the excavation and anchoring integrated equipment; the early warning, shutdown, and forbidden entry areas of the excavation and anchoring integrated equipment are divided by UWB technology, so as to realize the safety management of the personnel approaching different staff members under different states of the excavation and anchoring of the excavation and anchoring integrated equipment. In the excavation mode, unauthorized personnel approaching the equipment are identified, and the alarm mechanism is automatically triggered. At the same time, the evacuation command is issued to the positioning terminal carried by the personnel through the UWB base station; if the personnel get closer, the shutdown control will be further executed; and when someone enters the forbidden area, the shutdown control will be executed immediately, effectively preventing accidents such as the cutting head and claws of the excavator from injuring people, and significantly improving the inherent safety level of the mine. In the support mode, the method of the present invention identifies that most of the people near the integrated machine are supporting miners, and different lists of authorized personnel are set at this time. For the approach of unauthorized personnel, only an alarm prompt is issued, and no shutdown control is performed to ensure that production efficiency is not affected.

[0023] By designing an electronic fence system with automatic recognition of digging / anchoring status, personnel approach identification, personnel approach alarm and shutdown control management, the present invention enables coal mining enterprises to effectively monitor and manage the areas around the digging and anchoring equipment, timely discover and deal with potential safety hazards, thereby comprehensively improving the safety management level of coal mines.

[0024] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 It is a schematic diagram of the overall architecture of the early warning and control method based on the electronic fence of the coal mine digging and anchoring integrated equipment of the present invention;

[0027] Figure 2 A schematic diagram of the process of obtaining the digging / anchoring status of the digging and anchoring integrated equipment by the pressure transmitter of the present invention;

[0028] Figure 3 This is a schematic diagram of the electronic fence area division structure of the present invention;

[0029] Figure 4 It is a logical schematic diagram of the early warning and control method based on the electronic fence of the coal mine digging and anchoring integrated equipment of the present invention. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0031] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0032] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] See also Figure 1 to Figure 4 , which is an early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment.

[0034] Example

[0035] This embodiment provides an early warning and control method based on the electronic fence of coal mine drilling and anchoring equipment, such as Figure 1 As shown, based on the UWB precise positioning technology, the surrounding area of ​​the digging and anchoring equipment is divided into a warning area, a shutdown control area and a prohibited area, and an electronic fence is constructed with the boundary corresponding to each area; the underground workers are equipped with corresponding positioning terminals in advance, and the positioning terminals communicate with the base station on the digging and anchoring equipment; the base station at least obtains the position information and identity information corresponding to the positioning terminal; the digging / anchoring state of the digging and anchoring equipment is obtained through the pressure transmitter; the area where the corresponding personnel is located is determined according to the real-time acquired position information, and then the corresponding warning instructions and control instructions are given according to the personnel's identity information and the real-time digging / anchoring state of the digging and anchoring equipment.

[0036] In this embodiment, an early warning and control method for an electronic fence of an underground hydraulic trolley, an integrated digging and anchoring machine, and other mining and anchoring equipment is proposed.

[0037] This embodiment monitors the hydraulic value of the integrated equipment through a pressure transmitter, and automatically determines and identifies the digging / anchoring status of the equipment through the pressure value; through UWB precise positioning technology, the warning and shutdown areas of the electronic fence are delineated, and the identity and distance information of approaching personnel are obtained. According to the digging / anchoring status and personnel approaching information, on-site alarm and shutdown control are automatically performed, thereby realizing on-site alarm and control of electronic fence management when personnel approach the electronic fence based on automatic identification of the digging / anchoring status.

[0038] In this embodiment, a pressure transmitter is installed on the integrated digging and anchoring equipment to collect and obtain the hydraulic value of the equipment in real time; the transmitter UWB base station is connected to the pressure transmitter for communication. The system determines the digging / anchoring status of the integrated digging and anchoring equipment based on the collected hydraulic value. Specifically, in this embodiment, the hydraulic system of the integrated digging and anchoring equipment converts the hydraulic oil into high-pressure liquid through a hydraulic pump, providing powerful power support for various actuators of the integrated digging and anchoring machine. Figure 2 As shown, the pressure status of the integrated digging and anchoring equipment is monitored by the pressure monitoring device. When the integrated machine is in the anchoring mode, the hydraulic system of the excavation part is locked, no pressure value is output, and the pressure transmitter monitors the pressure value and outputs the switch value or RS485 signal; when the integrated machine is in the excavation mode, the hydraulic system provides the working power, the excavation part has the pressure value output, the pressure transmitter monitors the pressure value of the integrated machine, and outputs the switch value or RS485 signal. The pressure status of the integrated digging and anchoring equipment is monitored by the pressure transmitter. When the pressure exceeds the set threshold, the pressure transmitter outputs the switch value or RS485 state characterization signal. The electronic fence system collects the output signal of the pressure transmitter to obtain the excavation and anchoring status of the integrated digging and anchoring equipment.

[0039] Mine workers carry positioning terminals when working in the mine. They have a unique ID for the entire mine. The terminal ID is bound to the basic information of the personnel identity. The terminal has a UWB positioning module that can perform positioning, ranging, and communication transmission with the UWB base station. The base station can obtain the terminal's location, device ID, and status, and can send evacuation and alarm control information to the terminal through UWB. Positioning terminals include but are not limited to identification cards, positioning cards, information mining lamps, intrinsically safe watches, bracelets, etc.

[0040] The UWB base station is installed on the integrated drilling and anchoring equipment, and the warning area, shutdown control area and prohibited area of ​​the electronic fence are delineated according to the positioning value. One or more base stations are arranged on the integrated drilling and anchoring equipment. When one base station is arranged, the base station and the positioning terminal cooperate to measure the distance between the base station and the positioning terminal. The base station can be set to form a circular electronic fence area with the base station position as the center point.

[0041] When multiple base stations are deployed, they are generally deployed at the corners of the integrated device. They can also be deployed at different locations of the integrated device according to the on-site application requirements, and the position of a base station is set as the plane coordinate origin (0,0); multiple base stations and the positioning terminal jointly measure the plane coordinates (x, y) of the terminal. This coordinate (x, y) is the value relative to the set plane coordinate origin (0,0). In addition, according to all the position points that can be measured by the main base station, according to the pre-set or selected range, such as Figure 3As shown, the warning area, shutdown control area and forbidden area are divided. The warning area, shutdown control area and forbidden area are all set relative to the digging and anchoring equipment. When the actual position and direction of the digging and anchoring equipment change, the actual position of the corresponding warning area, shutdown control area and forbidden area will change with the actual position and direction of the digging and anchoring equipment. Therefore, the set electronic fence warning area, shutdown control area and forbidden area remain unchanged relative to the digging and anchoring equipment. The early warning area refers to the outer area close to the digging and anchoring equipment. This area is not conducive to observation due to obstructed vision. Therefore, it is not easy for personnel involved in the work of the digging and anchoring equipment to suffer accidental injuries. Therefore, unauthorized relevant personnel are not allowed to enter this area when the digging and anchoring equipment is in the digging state; the shutdown control area is an area closer to the activity area of ​​the digging and anchoring equipment. It is a high-risk area for unauthorized personnel. When unauthorized personnel enter this area, the digging and anchoring equipment shall immediately stop digging; the restricted area refers to the working area of ​​the cutting head of the tunnel boring machine of the digging and anchoring equipment. Regardless of whether authorization is obtained, as long as personnel enter this area, the digging and anchoring equipment shall stop working.

[0042] A "white list" of authorized users entering the electronic fence area is set based on the terminal device ID. When a person enters the UWB signal coverage area of ​​the UWB base station, the UWB base station locates and communicates with the terminal to obtain the person's location and device ID information in real time, and automatically issues an on-site alarm and shutdown control based on the equipment digging / anchoring status and the person's proximity information.

[0043] The integrated digging and anchoring equipment is equipped with a base station with UWB precise positioning function. The base station can cooperate with the positioning terminal (identification card, information mining lamp, etc.) to achieve centimeter-level precision positioning and identify the ID of the positioning terminal. At the same time, the base station communicates with the pressure transmitter to obtain the working status of the integrated digging and anchoring equipment. The base station divides the personnel approaching the warning area and the shutdown control area by precise positioning distance. By identifying the ID of the positioning terminal, a "white list" of personnel IDs authorized to enter the warning area and the shutdown control area is set. The personnel carry the positioning terminal, and the base station and the positioning terminal perform real-time positioning and ranging. When the personnel approach the integrated digging and anchoring equipment. The base station first determines the working status of the integrated digging and anchoring equipment. When the integrated digging and anchoring equipment is in working status. When the equipment is in the excavation mode, the base station determines whether the personnel are within the "white list" range. If they are, no alarm or shutdown lockout control will be performed; if they are not, the base station will first give an alarm prompt through the sound and light alarm within the warning area, and at the same time, the UWB base station will issue an evacuation order to the personnel entering the warning area, and the personnel will carry a terminal to evacuate with sound and vibration prompts; in the shutdown lockout control area, in addition to the above-mentioned alarm actions, the base station outputs a signal to control the excavation and anchoring equipment to perform shutdown control. When the equipment is in the anchor protection mode, no alarm or shutdown control action will be performed.

[0044] Specifically, in the real-time monitoring process, Figure 4 As shown, it processes data information according to the following process:

[0045] The pressure transmitter obtains the pressure value output from the hydraulic system of the digging and anchoring integrated equipment, and judges the digging / anchoring state of the digging and anchoring integrated equipment through the pressure value;

[0046] The pressure transmitter outputs the real-time digging / anchoring status of the digging and anchoring equipment to the base station, where the digging / anchoring status is divided into digging and anchoring status;

[0047] The base station communicates with the positioning terminal in real time to obtain the location information and identity information of the person corresponding to the positioning terminal;

[0048] The following judgment is made based on the digging / anchoring status of the digging and anchoring integrated equipment, the relationship between the current location of the positioning terminal and the electronic fence area, and the corresponding personnel identity information:

[0049] If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and at the same time send an evacuation command to the corresponding positioning terminal;

[0050] If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will neither send a warning signal nor a control command to prompt the corresponding terminal to enter the warning area;

[0051] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0052] If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station sends an area change prompt instruction to the corresponding terminal;

[0053] If the drilling and anchoring equipment is in the excavation state, and the position corresponding to the positioning terminal is in the forbidden area of ​​the electronic fence area, then regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0054] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station sends a position prompt command to the corresponding positioning terminal, but does not send other warning signals and control commands;

[0055] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions;

[0056] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will not send an alarm command, but will send an evacuation command to the corresponding positioning terminal, and send a command to the drilling and anchoring equipment to prohibit starting the drilling state within a preset time;

[0057] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions;

[0058] If the drilling and anchoring equipment is in the anchoring state, and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, then regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends an instruction to the drilling and anchoring equipment to prohibit the start of the drilling state within a preset time.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. An early warning and control method based on an electronic fence of a coal mine digging and anchoring integrated equipment, characterized in that: First, it obtains the digging / anchoring status of the digging and anchoring equipment through a pressure transmitter; then, based on the UWB precise positioning technology, the surrounding area of ​​the digging and anchoring equipment is divided into a warning area, a shutdown control area, and a prohibited area, and an electronic fence is constructed with the boundaries corresponding to each area; The underground workers are equipped with corresponding positioning terminals in advance, and the positioning terminals communicate with the base station on the drilling and anchoring equipment. The base station at least obtains the position information and identity information corresponding to the positioning terminal. Then, the area where the corresponding personnel are located is determined based on the real-time position information, and then the corresponding early warning instructions and shutdown control instructions are given based on the personnel's identity information and the real-time drilling / anchoring status of the drilling and anchoring equipment.

2. The early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment according to claim 1 is characterized by: Mine workers carry positioning terminals when working underground. The terminals have a unique ID for the entire mine, and the terminal ID is bound to the basic identity information of the personnel. Before starting work, by configuring the base station, the personnel who can enter the warning and shutdown areas of the digging / anchoring integrated equipment in different digging / anchoring states are authorized separately, forming a "white list" under different digging / anchoring working states. The base station can obtain the location information, equipment ID information, and status information of the positioning terminal.

3. The early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment according to claim 2 is characterized by: If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and at the same time send an evacuation command to the corresponding positioning terminal; If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will neither send a warning signal nor a control command.

4. The early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment according to claim 2 is characterized by: If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal; If the excavation and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to its personnel is in the pre-set "white list", the base station sends an area change prompt instruction to the corresponding terminal.

5. The early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment according to claim 2 is characterized by: If the drilling and anchoring equipment is in the excavation state, and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, then regardless of whether the corresponding identity information of the personnel is in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal.

6. The early warning and control method based on the electronic fence of coal mine digging and anchoring equipment according to claim 2 is characterized by: If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station sends a position prompt command to the corresponding positioning terminal, but does not send other warning signals and control commands; If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

7. The early warning and control method based on the electronic fence of coal mine digging and anchoring equipment according to claim 2 is characterized by: If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is not in the pre-set "white list", the base station will not send an alarm command, but will send an evacuation command to the corresponding positioning terminal, and send a command to the drilling and anchoring equipment to prohibit starting the drilling state within a preset time; If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

8. The early warning and control method based on the electronic fence of coal mine digging and anchoring equipment according to claim 2 is characterized by: If the drilling and anchoring equipment is in the anchoring state, and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, then regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends a command to the drilling and anchoring equipment to prohibit the start of the drilling state within the preset time.

9. The early warning and control method based on the electronic fence of coal mine digging and anchoring equipment according to claim 1 is characterized by: One or more base stations are arranged on the integrated drilling and anchoring equipment; when one base station is arranged, the base station and the positioning terminal cooperate to measure the distance between the base station and the positioning terminal, forming a circular electronic fence area with the base station position as the center point; When multiple base stations are deployed, the multiple base stations are deployed at different positions of the integrated digging and anchoring equipment, and the position of one base station is set as the origin of the plane coordinates; the multiple base stations and the positioning terminal jointly realize the measurement of the plane coordinates of the terminal, and divide the electronic fence area according to the coordinates; according to all the position points that can be measured by the base station, according to the pre-set or selected range, the early warning area, the shutdown control area and the forbidden area are divided; the early warning area, the shutdown control area and the forbidden area are all set relative to the base station on the integrated digging and anchoring equipment; the base station changes with the actual position and direction of the integrated digging and anchoring equipment. When the position of the integrated digging and anchoring equipment changes, the actual positions of the corresponding early warning area, the shutdown control area and the forbidden area will change with the actual position and direction of the integrated digging and anchoring equipment.

10. The early warning and control method based on the electronic fence of coal mine digging and anchoring integrated equipment according to claim 1 is characterized by: In the integrated digging and anchoring equipment, when it is in the anchoring and protecting mode, the hydraulic system of the digging part is locked, no pressure value is output, and the pressure transmitter outputs a signal indicating that the integrated digging and anchoring equipment is in the anchoring and protecting state; When it is in excavation mode, the hydraulic system provides operating power, the excavation part hydraulic system has a pressure value output, and the pressure transmitter monitors the pressure value of the excavation equipment. When the pressure exceeds the set threshold, the pressure transmitter outputs a signal indicating that the excavation and anchoring equipment is in the excavation state.

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